Vehicle Position Visualization in Pipe Repair
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Solution Overview
Problem
Existing methods for repairing damaged pipes using robots are prone to errors due to the inability to optically detect positions of inlets after a liner is inserted, and the generation of dust and contaminants impairs visibility, leading to inefficient processing and increased risk of rework.
Innovation Solution
A method for visualizing a vehicle's position within a pipe using a display device with virtual representations of the pipe and vehicle, independent of real-time camera feed, allowing operators to monitor position and work progress without interference from contaminants, using graphical and schematic representations to ensure accurate positioning and processing.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If a camera-based optical detection method is used to identify inlet positions, then the positions are easily identifiable before liner insertion, but after liner insertion the positions become undetectable optically
Solution Approach 1:
The system performs preliminary actions by creating a detailed map of the pipe interior, including inlet positions, before the liner is inserted. This map is stored in a database and used as a reference during subsequent processing operations, allowing the system to retrieve position information without relying on real-time optical detection through the liner.
Solution Approach 2:
The invention creates a virtual copy of the pipe interior geometry and inlet positions through 3D scanning and mapping techniques. This virtual model serves as a digital twin that can be referenced during processing operations, eliminating the need for direct optical detection through the liner while maintaining accurate position information.
2Loss of information
If real-time camera feed is used to monitor processing, then operators can see work progress, but dust and contaminants block the view and make monitoring impossible
Solution Approach 1:
The system uses a pre-created virtual 3D model of the pipe interior as a reference framework. During processing, the vehicle's actual position and tool orientation are overlaid onto this virtual model, creating a composite visualization that shows work progress without requiring direct optical detection through dusty conditions.
Solution Approach 2:
The virtual 3D model serves as an intermediary between the physical processing environment and the operator's view. Instead of showing the operator the actual dusty pipe interior, the system mediates by displaying a clean virtual model with overlaid position information, eliminating the harmful effect of dust blockage.
3Illumination intensity
If the vehicle stops processing to allow dust to settle for clear camera view, then visibility is restored, but processing time increases significantly
Solution Approach 1:
The system replaces the need for visual clarity through dust settling by using a virtual 3D model that inherently provides clear visualization. The vehicle continues processing without interruption while the operator monitors progress through the virtual model with overlaid position data, maintaining both visual clarity and processing speed.
Solution Approach 2:
The invention enables continuous processing operation without interruptions for dust settling. The virtual visualization system provides continuous monitoring capability that is independent of physical visibility conditions, allowing the vehicle to maintain continuous useful action throughout the processing pipeline.
4Productivity
If a virtual representation system is implemented to show vehicle position independently of camera feed, then continuous monitoring is possible without dust interference, but the system complexity increases
Solution Approach 1:
The system uses a multi-functional approach where the 3D mapping technology serves multiple purposes: it creates the virtual pipe model for visualization, provides the geometric framework for position reference, and enables the overlay of vehicle and tool position data. This universal use of the 3D model reduces the need for separate systems for each function.
Solution Approach 2:
The virtual 3D model acts as a simplified copy of the complex physical environment. Instead of dealing with the complexity of real-time optical detection through dusty conditions, the system uses the pre-created virtual model that captures all necessary geometric information in a manageable digital format.
Data Source
AI summary
A method for visualizing a position of a vehicle configured for navigating a pipe within the pipe on a display device wherein the visualization on the display device is at least partially performed based on a virtual representation and the pipe is graphically represented at least in sections and preferably in a form of lines defining its enveloping surfaces on the display device, wherein the vehicle and preferably its movement is also represented on the display device thus within the pipe.